Environment Perception Device and Method of Mobile Vehicle

2. The environment perception device according to claim 1, wherein the camera module comprises a depth camera, and the 3D image frame comprises a depth image frame.

4. The environment perception device according to claim 3, wherein the fusion operation comprises an edge detection algorithm, and the edge detection algorithm is configured to process the first region and the second region to generate the first region after edge detection and the second region after edge detection.

5. The environment perception device according to claim 1, wherein the movement characteristic further comprises at least one of a position, a distance, a speed, and an acceleration.

6. The environment perception device according to claim 1, wherein the analysis and calculation further obtains a movement trend of the object based on the movement characteristic, and the processing circuit further determines whether to trigger an obstacle alarm based on the movement trend.

8. The environment perception method according to claim 7, wherein the camera module comprises a depth camera, and the 3D image frame comprises a depth image frame.

10. The environment perception method according to claim 9, wherein the fusion operation comprises an edge detection algorithm, and the edge detection algorithm is configured to process the first region and the second region to generate the first region after edge detection and the second region after edge detection.

11. The environment perception method according to claim 7, wherein the movement characteristic further comprises at least one of a position, a distance, a speed, and an acceleration.